Identification for the robust control of robot manipulators

In this paper an identification scheme, which yields bounds on unmodelled dynamics along with an estimate for the parameters of a nominal dynamic model has been presented. These estimates are useful for designing a robust controller for trajectory control of robot manipulators, if they satisfy certain conditions. These conditions have been stated mathematically. Guidelines are provided for selecting a data set for identification such that the obtained estimates satisfy the above conditions. Simulation results are presented for a two-link serial manipulator, when frictional torques are treated as unmodelled. Copyright (C) 2001 , Ltd.